Snake-like soft robot using 2-chambers actuator
Many researchers have been working on snake-like robots due to their flexibility, safety and dexterity. Traditional robots have rigid underlying structures that limit their ability to interact with their environment. In this work, soft robot is developed using three links of the flexible soft actuat...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Penerbit UTM Press
2018
|
| Subjects: | |
| Online Access: | http://eprints.utm.my/85302/1/AhmadAthifFaudzi2018_Snake-likeSoftRobot.pdf |
| _version_ | 1796864017489199104 |
|---|---|
| author | Abdulrab, Hakim Q. A. Mohd. Nordin, Ili Najaa Aimi Muhammad Razif, Muhammad Rusydi Faudzi, Ahmad Athif |
| author_facet | Abdulrab, Hakim Q. A. Mohd. Nordin, Ili Najaa Aimi Muhammad Razif, Muhammad Rusydi Faudzi, Ahmad Athif |
| author_sort | Abdulrab, Hakim Q. A. |
| collection | ePrints |
| description | Many researchers have been working on snake-like robots due to their flexibility, safety and dexterity. Traditional robots have rigid underlying structures that limit their ability to interact with their environment. In this work, soft robot is developed using three links of the flexible soft actuator connected by rubber joints. The actuators are fabricated using silicon Silastic P-1 where each actuator link consists of two semi-circular chambers and are reinforced with fibers. Fabrication process from CAD design, mold fabrication and validation with simulation and experiment is presented. The fabricated actuators can bend at 27.5o with maximum pressure of 180 kPa. |
| first_indexed | 2024-03-05T20:35:31Z |
| format | Article |
| id | utm.eprints-85302 |
| institution | Universiti Teknologi Malaysia - ePrints |
| language | English |
| last_indexed | 2024-03-05T20:35:31Z |
| publishDate | 2018 |
| publisher | Penerbit UTM Press |
| record_format | dspace |
| spelling | utm.eprints-853022020-03-17T08:10:08Z http://eprints.utm.my/85302/ Snake-like soft robot using 2-chambers actuator Abdulrab, Hakim Q. A. Mohd. Nordin, Ili Najaa Aimi Muhammad Razif, Muhammad Rusydi Faudzi, Ahmad Athif TK Electrical engineering. Electronics Nuclear engineering Many researchers have been working on snake-like robots due to their flexibility, safety and dexterity. Traditional robots have rigid underlying structures that limit their ability to interact with their environment. In this work, soft robot is developed using three links of the flexible soft actuator connected by rubber joints. The actuators are fabricated using silicon Silastic P-1 where each actuator link consists of two semi-circular chambers and are reinforced with fibers. Fabrication process from CAD design, mold fabrication and validation with simulation and experiment is presented. The fabricated actuators can bend at 27.5o with maximum pressure of 180 kPa. Penerbit UTM Press 2018 Article PeerReviewed application/pdf en http://eprints.utm.my/85302/1/AhmadAthifFaudzi2018_Snake-likeSoftRobot.pdf Abdulrab, Hakim Q. A. and Mohd. Nordin, Ili Najaa Aimi and Muhammad Razif, Muhammad Rusydi and Faudzi, Ahmad Athif (2018) Snake-like soft robot using 2-chambers actuator. Journal of Electrical Engineering, 17 (1). pp. 34-4. ISSN 0128-4428 https://dx.doi.org/10.11113/elektrika.v17n1.39 DOI:/10.11113/elektrika.v17n1.39 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Abdulrab, Hakim Q. A. Mohd. Nordin, Ili Najaa Aimi Muhammad Razif, Muhammad Rusydi Faudzi, Ahmad Athif Snake-like soft robot using 2-chambers actuator |
| title | Snake-like soft robot using 2-chambers actuator |
| title_full | Snake-like soft robot using 2-chambers actuator |
| title_fullStr | Snake-like soft robot using 2-chambers actuator |
| title_full_unstemmed | Snake-like soft robot using 2-chambers actuator |
| title_short | Snake-like soft robot using 2-chambers actuator |
| title_sort | snake like soft robot using 2 chambers actuator |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utm.my/85302/1/AhmadAthifFaudzi2018_Snake-likeSoftRobot.pdf |
| work_keys_str_mv | AT abdulrabhakimqa snakelikesoftrobotusing2chambersactuator AT mohdnordinilinajaaaimi snakelikesoftrobotusing2chambersactuator AT muhammadrazifmuhammadrusydi snakelikesoftrobotusing2chambersactuator AT faudziahmadathif snakelikesoftrobotusing2chambersactuator |